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Rigid and Affine Body Dynamics - #184

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zfergus wants to merge 99 commits into

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dynamics

Commits on May 31, 2024
- Add start of dynamics code
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- Add comments to OrthogonalityPotential::hessian
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Commits on Jun 6, 2024
- Add J matrix to AffineBody class
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Commits on Nov 10, 2024
- Merge branch 'main' into dynamics
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Commits on Nov 11, 2024
- Fix comment
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Commits on Jun 8, 2025
- Merge branch 'main' into dynamics
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Commits on Jun 13, 2025
- [WIP] Implement rigid body dynamics framework
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Commits on Jun 14, 2025
- Fix rotation_vector_to_matrix derivatives
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Commits on Jun 17, 2025
- Test RigidBody class
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Commits on Jun 18, 2025
- Test InertialTerm
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- Add density parameter to mass calculations; store R0 in RB
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- Add (empty) simulator loop
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Commits on Jun 21, 2025
- Move body forces into separate class
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Commits on Aug 18, 2025
Commits on Aug 19, 2025
- Remove unused K_dKj_plus_K_dKj_T
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Commits on Aug 20, 2025
- Add RigidBody class bindings to expose mass and inertia properties.
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Commits on Aug 24, 2025
Commits on Aug 28, 2025
- Refactor nonlinear CCD methods to use NonlinearCCD class and simplify function signatures
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- Add RigidCandidates class for managing collision candidates and implement collision detection methods
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Commits on Sep 1, 2025
- Merge branch 'main' into dynamics
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- Merge branch 'main' into dynamics
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Commits on Jan 27, 2026
- Merge branch 'main' into dynamics
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- Refactor math utils and update NonlinearCCD API
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- Fix NonlinearCCD parameter order
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- Fix Clang-Tidy Errors
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- Add NOLINTNEXTLINE for identifier-naming
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- Assert Q_hat size instead of torque size
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Commits on Jan 28, 2026
- Fix nonlinear CCD; update body force parameter names
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- Use Eigen::ConstRef for function parameters
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Commits on Feb 1, 2026
- Start work on RigidCandidates
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Commits on Feb 2, 2026
- Update normal hessians to vectorized 3rd-order tensor format
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- Remove invisible unicode
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  1c89c51
- Skip force and torque computations when zero
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Commits on Feb 3, 2026
- Fix normal hessian calculations for vectorized order
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Commits on Feb 4, 2026
- Refactor tangent basis and rel velocity Jacobians and update tests
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- Update TangentialPotential to match new layout for Jacobians
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- Update finite-diff package version to 1.0.4
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- Add ground contact dynamics and related tests
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- Bind write_gltf and add Save button
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Commits on Feb 7, 2026
- Merge branch 'main' into dynamics
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- Remove maybe_parallel_for from utils sources
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- Rigid dynamics: simulator API, fixes, and tests
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Commits on Feb 9, 2026
- Merge branch 'main' into dynamics
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Commits on Feb 10, 2026
- Add linearized rigid body collision to simulator
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Commits on Feb 18, 2026
- Enhance rigid body dynamics and GLTF I/O support
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Commits on Feb 20, 2026
- Improve robustness of rigid simulator
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Commits on Feb 21, 2026
- Use Eigen::Hyperplane for planes
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- Refactor rigid/affine dynamics API and potentials
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- Merge branch 'main' into dynamics
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- Enable extra-semi warning and fix extra semicolons
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- Bump ipc_toolkit tests data Git tag
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- Include <memory> in read_gltf.hpp
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- Use Eigen::VectorXd for gradient in test
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- Expose Eigen system include dir and fix tests
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Commits on Feb 28, 2026
- Merge branch 'main' into dynamics
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- Merge branch 'main' into dynamics
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Commits on Mar 1, 2026
- Merge branch 'main' into dynamics
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- Fix tests for ColMajor derivatives
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- Merge branch 'main' into dynamics
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- Merge branch 'main' into dynamics
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Commits on Jul 4, 2026
- Merge branch 'main' into dynamics
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Commits on Jul 5, 2026
- Add optional glTF I/O for rigid-body scenes
  
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Commits on Jul 6, 2026
- Add rigid-body collision detection and BDF time integration
  
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Commits on Jul 7, 2026
- Restructure dynamics into a library/demo split with a polysolve solver
  
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- Apply clang-format
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- Merge branch 'main' into dynamics
  
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- Fix CI: clang-tidy member naming and pin Windows to MSVC
  
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- Include demo and glTF I/O in the coverage build
  
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- Fix CI
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- Fix debug tests and update polysolve
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- Set solver logger level to info; fix affine test
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- Update polysolve
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- Update clang-format-check and .gitattributes
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- Merge remote-tracking branch 'origin/main' into dynamics
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- Merge branch 'main' into dynamics
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Commits on Jul 8, 2026
- Complete dynamics port: friction, static/kinematic, 2D, codim
  
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- Unify rotation derivatives and move AffinePose to ipc::affine::Pose
  
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- Add ToAffine parameterization and BodyPotentials aggregator
  
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- Unify RBD/ABD in the simulator via BodyPotentials + ToAffine; delete old terms
  
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- Update demo README for the RBD/ABD unification
  
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- Applied clang-format
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- Fix clang-tidy error
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Commits on Jul 9, 2026
- Use MSVC /W4 instead of /Wall to reduce warning noise
  
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- Fix MSVC build: use igl::PI instead of bare M_PI in demo tests
  
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- Loosen affine rotation_vector unitary assert for ABD drift
  
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- Apply clang-format
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  55cc49e
- Prevent nonunitary matrix from being passed to Pose::rotation_vector
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- Fix clang-format pre-commit hook: add -i for in-place formatting
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- Update test_orthogonality_potential.cpp
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  59f13d2
- Silence MSVC warnings; fix Eigen SVD instantiation
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  5ce8b57
- Remove MSVC external warning suppression
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Commits on Aug 24, 2025

Commits on Aug 28, 2025

Commits on Sep 1, 2025

Commits on Jan 27, 2026

Commits on Jan 28, 2026

Commits on Feb 1, 2026

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Commits on Feb 7, 2026

Commits on Feb 9, 2026

Commits on Feb 10, 2026

Commits on Feb 18, 2026

Commits on Feb 20, 2026

Commits on Feb 21, 2026

Commits on Feb 28, 2026

Commits on Mar 1, 2026

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Commits on Jul 9, 2026